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Gravity #118

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felixendres opened this issue Aug 18, 2016 · 1 comment
Open

Gravity #118

felixendres opened this issue Aug 18, 2016 · 1 comment
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@felixendres
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Hi,
has anyone modeled a sensor that estimates the gravity for 3D slam?
Particularly, I do not know how to fix the graph correctly.

Usually I fix the pose of the first node, using it as the origin. Now I could fix the translation using a reduced version of EdgeSE3Prior. But I don't know how I would fix the rotational degree of freedom that is unconstrained by the gravity, i.e., the rotation around the gravity axis.

Any ideas?
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This issue is stale because it has been open 60 days with no activity. Remove stale label or comment or this will be closed in 14 days.

@github-actions github-actions bot added the Stale label Jan 22, 2025
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